Add Source Component ID parameter to connect function to allow setting a different comp ID than 0. Default to 0 to make it backwards compatible.

Author: jmachuca77

dronekit/__init__.py

@@ -3094,6 +3094,7 @@ def connect(ip,
             baud=115200,
             heartbeat_timeout=30,
             source_system=255,
+            source_component=0,
             use_native=False):
     """
     Returns a :py:class:`Vehicle` object connected to the address specified by string parameter ``ip``.
@@ -3130,6 +3131,7 @@ def connect(ip,
     :param int heartbeat_timeout: Connection timeout value in seconds (default is 30s).
         If a heartbeat is not detected within this time an exception will be raised.
     :param int source_system: The MAVLink ID of the :py:class:`Vehicle` object returned by this method (by default 255).
+    :param int source_component: The MAVLink Component ID fo the :py:class:`Vehicle` object returned by this method (by default 0).
     :param bool use_native: Use precompiled MAVLink parser.
 
         .. note::
@@ -3154,7 +3156,7 @@ def connect(ip,
     if not vehicle_class:
         vehicle_class = Vehicle
 
-    handler = MAVConnection(ip, baud=baud, source_system=source_system, use_native=use_native)
+    handler = MAVConnection(ip, baud=baud, source_system=source_system, source_component=source_component, use_native=use_native)
     vehicle = vehicle_class(handler)
 
     if status_printer:

dronekit/mavlink.py

@@ -39,7 +39,7 @@ def read(self):
 
 class mavudpin_multi(mavutil.mavfile):
     '''a UDP mavlink socket'''
-    def __init__(self, device, baud=None, input=True, broadcast=False, source_system=255, use_native=mavutil.default_native):
+    def __init__(self, device, baud=None, input=True, broadcast=False, source_system=255, source_component=0, use_native=mavutil.default_native):
         self._logger = logging.getLogger(__name__)
         a = device.split(':')
         if len(a) != 2:
@@ -59,7 +59,7 @@ def __init__(self, device, baud=None, input=True, broadcast=False, source_system
                 self.broadcast = True
         mavutil.set_close_on_exec(self.port.fileno())
         self.port.setblocking(False)
-        mavutil.mavfile.__init__(self, self.port.fileno(), device, source_system=source_system, input=input, use_native=use_native)
+        mavutil.mavfile.__init__(self, self.port.fileno(), device, source_system=source_system, source_component=source_component, input=input, use_native=use_native)
 
     def close(self):
         self.port.close()
@@ -121,20 +121,21 @@ def stop_threads(self):
             self.mavlink_thread_out.join()
             self.mavlink_thread_out = None
 
-    def __init__(self, ip, baud=115200, target_system=0, source_system=255, use_native=False):
+    def __init__(self, ip, baud=115200, target_system=0, source_system=255, source_component=0, use_native=False):
         self._logger = logging.getLogger(__name__)
 
         if ip.startswith("udpin:"):
-            self.master = mavudpin_multi(ip[6:], input=True, baud=baud, source_system=source_system)
+            self.master = mavudpin_multi(ip[6:], input=True, baud=baud, source_system=source_system, source_component=source_component)
         else:
-            self.master = mavutil.mavlink_connection(ip, baud=baud, source_system=source_system)
+            self.master = mavutil.mavlink_connection(ip, baud=baud, source_system=source_system, source_component=source_component)
 
         # TODO get rid of "master" object as exposed,
         # keep it private, expose something smaller for dronekit
         self.out_queue = Queue()
         self.master.mav = mavutil.mavlink.MAVLink(
             MAVWriter(self.out_queue),
             srcSystem=self.master.source_system,
+            srcComponent=self.master.source_component,
             use_native=use_native)
 
         # Monkey-patch MAVLink object for fix_targets.